CN215361025U

CN215361025U - Power changing system for plant protection unmanned aerial vehicle

Info

Publication number: CN215361025U
Application number: CN202121485469.0U
Authority: CN
Inventors: 刘承光; 颜爱忠; 宋成法
Original assignee: Jiangsu Zhongsu Intelligent Manufacturing Co ltd; Sinoso Science And Technology Inc
Current assignee: Jiangsu Zhongsu Intelligent Manufacturing Co ltd; Sinoso Science And Technology Inc
Priority date: 2021-07-01
Filing date: 2021-07-01
Publication date: 2021-12-31
Anticipated expiration: 2031-07-01

Abstract

The utility model relates to the technical field of unmanned aerial vehicles, in particular to a power changing system of a plant protection unmanned aerial vehicle, which comprises: the unmanned aerial vehicle is provided with a first interface for supplying power to internal electronic elements and an accommodating space for placing the medicine box; a medicine box detachably connected to the accommodating space of the unmanned aerial vehicle; the locking mechanism is arranged on the unmanned aerial vehicle, is positioned on the periphery of the accommodating space, and has an unlocking state and a locking state; the battery, by fixed setting to the medical kit to have with the first interface complex second interface of unmanned aerial vehicle. According to the unmanned aerial vehicle power switching device, the medicine box and the battery of the unmanned aerial vehicle for plant protection are combined and designed to be replaced in an integrated mode, automatic power switching of the unmanned aerial vehicle is achieved, the continuity of operation of the unmanned aerial vehicle for plant protection is improved, the locking mechanism is simple, the locking state and the unlocking state are triggered and switched in the power switching process, the medicine box is always tightly connected with the unmanned aerial vehicle after the unmanned aerial vehicle is vacated while power switching is facilitated, and the stability and the reliability of electric connection are improved.

Description

Power changing system for plant protection unmanned aerial vehicle

Technical Field

The utility model relates to the technical field of unmanned aerial vehicles, in particular to a power changing system of a plant protection unmanned aerial vehicle.

Background

Many rotor unmanned aerial vehicle has that the operation height is low, and it is few to drift, can hover in the air, need not the advantage in special airport of taking off and land, and the downdraft that the rotor produced helps increasing fog and flows the penetrability to the crop, and the prevention and cure effect is high. Moreover, the remote control operation can be carried out in a long distance, and the danger that spraying operators are exposed to pesticides can be avoided.

Current plant protection unmanned aerial vehicle generally by unmanned aerial vehicle, install in medical kit and the sprinkler system of fuselage below and constitute, unmanned aerial vehicle and medical kit power supply alone, the unmanned aerial vehicle internal power supply supplies power for flight control system, power in the medical kit supplies power for the sprinkler system, so, the unmatched condition of unmanned aerial vehicle and medical kit energy consumption and change itself as the medical kit carrier can appear, medical kit and unmanned aerial vehicle arbitrary one exhaust the resource and all need return to trade the electricity.

In order to increase the continuity of unmanned aerial vehicle operation, under the current certain circumstances of battery capacity, the mode of changing the battery can only be adopted, as shown in patent document 1 and patent document 2, the mode of changing battery and explosive barrel, though easy operation, it still adopts manual disassembly, is unfavorable for automatic operation.

Prior art documents:

patent document 1: CN210882641U discloses a plant protection unmanned aerial vehicle convenient for replacing medicine boxes and batteries, which comprises a machine body, wherein the machine body is provided with a first insertion groove and a second insertion groove for fixing the medicine boxes and the batteries respectively; the first cartridge groove and the second cartridge groove are respectively provided with a guide fixing part, the guide fixing parts comprise rotating wheel assemblies, the side wall of the medicine box and the side wall of the battery are respectively provided with a first vertical guide groove and a second vertical guide groove, and the tops of the first vertical guide groove and the second vertical guide groove are respectively provided with a first groove and a second groove which are matched and clamped with the rotating wheel assemblies. The relative both sides extension at the casing top of battery has vertical joint to detain, and the bottom of joint knot has colluded the form portion to battery top direction extension. The medical kit and the battery are fixed on the machine body in a plug-in mounting mode, so that the disassembly and the assembly are convenient and quick, and the time for replacing the medical kit and the battery is saved.

Patent document 2: CN209274908U, a fixed medical kit of plant protection machine of quick replacement battery is disclosed, including plant protection machine medical kit and battery, the top of plant protection machine medical kit is fixed with the medical kit fixed plate, the top of medical kit fixed plate is fixed with the battery slide rail, the battery passes through left-hand thread magic tape and binds on the outer wall that is fixed in the battery fixed plate, battery fixed plate sliding connection is in the inside of battery slide rail, the both sides that the outer wall of battery fixed plate is located the battery all are equipped with the graduation round pin, through the preparation of making the change battery in advance, the change time has been practiced thrift, and during the installation, through propelling movement the battery, and it is fixed through the graduation round pin, be convenient for install the central point at the medical kit with the battery, make plant protection more steady, plant protection operating efficiency is improved, it is quick to change the battery, and operation efficiency is improved.

In the power exchanging system in the prior art, no matter in the scheme of realizing quick power exchanging through a buckle scheme or a magic tape-rolling scheme, the power exchanging mechanism design is provided, but no corresponding design is made on the electric connection and the stability, and manual power exchanging is adopted, so that the power exchanging system has no practical significance in scale agricultural application; and unmanned aerial vehicle trades design and realization of electric system, not only the artifical operating problem that trades the electricity, still involve opening of unmanned aerial vehicle and stop and fix a position, if do not intervene opening and stopping, more so need the operating personnel scene to trade the electricity, can't trade the electricity fast through automatic system, moreover under the application scene of scale agriculture, trade through the manual work and be unsatisfactory, it is unrealistic yet, the efficiency is extremely low, can't accomplish the plant protection operation demand in the regulation time.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a power changing system for a plant protection unmanned aerial vehicle, which is used for automatically changing power on the basis of the parking and positioning of the unmanned aerial vehicle, and simultaneously changing a battery and a medicine box without the need of personnel guard and manual power changing, thereby improving the degree of automation.

According to the above object, a first aspect of the present invention provides a power exchanging system for a plant protection unmanned aerial vehicle, including:

the unmanned aerial vehicle is provided with a first interface for supplying power to internal electronic elements and an accommodating space for placing the medicine box;

a medicine box detachably connected to the accommodating space of the unmanned aerial vehicle; the medicine box is integrated with a battery for supplying power to the unmanned aerial vehicle, the battery is fixed on the medicine box and is arranged to be replaced synchronously with the medicine box, and the battery is provided with a second interface matched with the first interface of the unmanned aerial vehicle;

a locking mechanism provided on the drone, the locking mechanism being operable to switch between an unlocked state and a locked state;

the battery replacement platform provides a load surface for the unmanned aerial vehicle to park and be positioned; defining an X-Y direction by a load surface of the battery replacement platform, wherein the medicine box is arranged to be locked and released along the Y direction, and the first interface of the unmanned aerial vehicle and the second interface of the medicine box are arranged to be matched along the Y direction to realize electric connection;

a standby medicine box is arranged on the battery replacement platform and is arranged to replace the medicine box loaded by the unmanned aerial vehicle after the unmanned aerial vehicle is parked and positioned on the load surface;

the locking mechanism has a tendency of keeping a locking state, so that the medicine box is in locking connection with the unmanned aerial vehicle; after the unmanned aerial vehicle is parked on the load surface and is positioned, the locking mechanism is switched to an unlocking state by operation, a medicine box loaded by the unmanned aerial vehicle can slide out along the Y direction and separate from the unmanned aerial vehicle, and the standby medicine box slides in and is combined with the first interface through the battery replacement mechanism, so that battery replacement is completed and the battery is locked by the locking mechanism.

The X direction and the Y direction are vertically distributed on the surface defined by the load surface, the unmanned aerial vehicle is arranged to switch power along the Y direction, and the limiting operation of the X-Y direction on the unmanned aerial vehicle is kept in the power switching process.

Preferably, the battery replacement mechanism comprises a manipulator capable of moving along the Y direction, especially a manipulator with multiple degrees of freedom, and can clamp and replace a medicine box loaded on the unmanned aerial vehicle and a spare medicine box.

Preferably, the power exchanging platform is provided with a correcting mechanism for adjusting the unmanned aerial vehicle parked on the load surface to a position state where the power exchanging mechanism can pick and place the medicine chest along the Y direction.

Preferably, the correcting mechanism comprises a rotatable X-direction correcting rod group and a rotatable Y-direction correcting rod group, and the X-direction correcting rod group and the Y-direction correcting rod group are arranged to move back and forth in a preset sequence so as to correct the parking angle and/or the direction of the unmanned aerial vehicle and correct the unmanned aerial vehicle to a preset position.

From this, park the unmanned aerial vehicle who trades on the electric platform and carry out position correction through aligning gear, make unmanned aerial vehicle by follow X to correcting with Y to, in the alignment process, through the synchronization of a pair of corrector lever, relative rotation, make unmanned aerial vehicle can be driven by the corrector lever and the displacement or rotate in the direction (X to or Y to) that corresponds, with angle and the position of correcting unmanned aerial vehicle, make its final parking to predetermined position, do benefit to and use and trade electric mechanism and trade the electric operation from the Y direction.

It should be understood that X is to correction pole group and Y to correction pole group all have preset correction position, move angle and position after target in place promptly, when X is to correction pole group and Y to correction pole all reach preset correction position, unmanned aerial vehicle is rectified and is fixed a position to preset, first interface of unmanned aerial vehicle and the second interface of medical kit cooperate along the Y direction promptly for trade the accurate rectilinear motion of mechanism (for example manipulator) along the Y direction and can realize the operation to the income of medical kit and roll-off, the precision of location, butt joint is high, reduce the damage risk to the interface, simultaneously, do benefit to the operation of locking and unblock.

Preferably, the locking mechanism is configured to apply a pre-tightening force to the medicine box in a direction towards the first interface when in the locked state, so that the second interface of the battery keeps a tendency to move towards the first interface of the unmanned aerial vehicle. Therefore, in the embodiment of the utility model, the medicine box can be fixed along the Y direction and/or the bottom of the medicine box, but in the flying and working processes of the unmanned aerial vehicle, the Y direction is a physical stress direction of electrical connection, and is easily affected by vibration, inclination or flying posture to cause interface looseness, so through the application of the embodiment, pretightening force is set along the sliding-in direction of the medicine box in the Y direction, so that the medicine box keeps a trend of moving towards the unmanned aerial vehicle, and the electrical connection between the medicine box and the unmanned aerial vehicle is more stable.

Preferably, the receiving space is formed between two landing gears of the drone, the locking mechanism being provided on the landing gear of the drone.

Preferably, the inner side of the undercarriage is provided with a hollow slide bar extending into the accommodating space, and the medicine box is provided with a sliding groove capable of surrounding the hollow slide bar, so that the medicine box can slide along the hollow slide bar.

Preferably, the locking mechanism comprises an elastic bolt installed inside the hollow slide bar, a clamping groove is formed in the medicine box, and after the medicine box is filled into the accommodating space, the elastic bolt in a locking state can extend out of the hollow slide bar and be clamped in the clamping groove to limit the medicine box to slide.

Preferably, be equipped with the spring bolt support in the hollow slide bar, spring bolt support and hollow slide bar sliding connection, just be equipped with the spring between spring bolt support and the hollow slide bar, make the spring bolt support have the pretightning force towards unmanned aerial vehicle's first interface direction to make the elastic spring bolt keep compressing tightly the trend of medical kit.

Preferably, the elasticity spring bolt is articulated with the spring bolt support, the elasticity spring bolt has the arc contact surface with the contact of medical kit draw-in groove, the inside stop block that is equipped with of hollow slide bar, the elasticity spring bolt includes:

in a locking state, the arc-shaped contact surface of the elastic bolt is in contact with the medicine box clamping groove and is separated from the stop block;

in a contraction state, the arc-shaped contact surface of the elastic lock tongue is in contact with the stop block and is completely retracted into the hollow slide rod;

when the locking state is to be realized, the elastic lock tongue extends out of the hollow slide bar, and the arc-shaped contact surface of the elastic lock tongue is abutted to the hole wall of the hollow slide bar.

Preferably, the arcuate contact surface is shaped to: the length of the cambered surface of the contact end of the medicine box from the rotating center is greater than that of the cambered surface of the free end from the rotating center.

Preferably, a cavity is formed inside the hollow slide rod and on one side of the bolt support close to the accommodating space of the unmanned aerial vehicle, and the battery replacement mechanism is arranged to operate the cavity to enable the elastic bolt to be switched from the locking state to the unlocking state.

Preferably, in the process of replacing the battery by the battery replacement mechanism, the unmanned aerial vehicle is parked and positioned at a preset position, and the X-direction correction rod group and the Y-direction correction rod group clamp and limit to prevent the unmanned aerial vehicle from moving along the Y direction or the X direction.

Therefore, in the design of the battery replacement system, the unmanned aerial vehicle can be driven by the X-direction correction rod or the Y-direction correction rod to displace and/or rotate in the corresponding direction through the synchronous and relative rotation of the X-direction correction rod group or the Y-direction correction rod group, so as to correct the angle and the direction of the unmanned aerial vehicle and finally park the unmanned aerial vehicle to the preset position.

The X-direction correcting rod group and the Y-direction correcting rod group are provided with preset correcting positions, namely angles and positions after the X-direction correcting rod group and the Y-direction correcting rod group are moved in place. When the X-direction correcting rod group and the Y-direction correcting rod reach the preset correcting positions, the unmanned aerial vehicle is corrected and positioned to the preset positions, namely the first interface of the unmanned aerial vehicle is matched with the second interface of the medicine box along the Y direction, so that the battery replacement mechanism (such as a manipulator) can realize the positions of the sliding-in and sliding-out operations of the medicine box along the Y direction. The precision of location, butt joint is high, reduces the damage risk to the interface, simultaneously, does benefit to the operation of locking and unblock.

It should be understood that all combinations of the foregoing concepts and additional concepts described in greater detail below can be considered as part of the inventive subject matter of the present disclosure unless such concepts are mutually inconsistent. In addition, all combinations of claimed subject matter are considered a part of the inventive subject matter of this disclosure.

The foregoing and other aspects, embodiments and features of the present teachings can be more fully understood from the following description taken in conjunction with the accompanying drawings. Additional aspects of the present invention, such as features and/or advantages of exemplary embodiments, will be apparent from the description which follows, or may be learned by practice of specific embodiments in accordance with the teachings of the present invention.

Drawings

The drawings are not intended to be drawn to scale. In the drawings, each identical or nearly identical component that is illustrated in various figures may be represented by a like numeral. For purposes of clarity, not every component may be labeled in every drawing. Embodiments of various aspects of the present invention will now be described, by way of example, with reference to the accompanying drawings, in which:

fig. 1 is a schematic diagram of a plant protection unmanned aerial vehicle battery swapping system according to an exemplary embodiment of the present invention;

fig. 2 is a schematic calibration diagram of a plant protection unmanned aerial vehicle battery replacement system according to an exemplary embodiment of the present invention;

fig. 3 is a schematic diagram of an X-Y direction correction process of the plant protection unmanned aerial vehicle battery replacement system according to the exemplary embodiment of the present invention;

fig. 4 is a schematic diagram of a tank and a locking mechanism in a battery replacement system of a plant protection unmanned aerial vehicle according to an exemplary embodiment of the present invention;

FIG. 5 is a schematic structural diagram of an unmanned aerial vehicle and a medicine box in an embodiment of the utility model;

FIG. 6 is a schematic structural view of the medicine box in a locked state in the embodiment of the present invention;

fig. 7 is a schematic structural view of the medicine box in an unlocked state in the embodiment of the present invention;

fig. 8 is a schematic configuration diagram of a state where the medicine boxes are taken out in the embodiment of the utility model;

fig. 9 is a schematic structural diagram of the elastic bolt in the locked state in the embodiment of the utility model;

fig. 10 is a schematic structural view of an embodiment of the utility model with an elastic bolt in a contracted state;

fig. 11 is a schematic structural diagram of the elastic bolt in the state to be locked in the embodiment of the utility model.

Detailed Description

In order to better understand the technical content of the present invention, specific embodiments are described below with reference to the accompanying drawings.

In this disclosure, aspects of the present invention are described with reference to the accompanying drawings, in which a number of illustrative embodiments are shown. Embodiments of the present disclosure are not necessarily intended to include all aspects of the utility model. It should be appreciated that the various concepts and embodiments described above, as well as those described in greater detail below, may be implemented in numerous ways, as the disclosed concepts and embodiments are not limited to any embodiment. In addition, some aspects of the present disclosure may be used alone, or in any suitable combination with other aspects of the present disclosure.

Plant protection unmanned aerial vehicle is an unmanned aerial vehicle who has specific function, carries the medical kit for example, realizes the operation that the medicine sprayed through unmanned aerial vehicle. In some embodiments, the medicine box and the battery are designed to be integrated, and when the medicine box and the battery are mounted on the unmanned aerial vehicle, it is necessary to maintain the reliability of the electrical connection between the battery and the unmanned aerial vehicle, so that it is necessary to maintain the fastening physical connection between the battery interface and the power receiving interface of the unmanned aerial vehicle, and to achieve reliable electrical connection.

In some embodiments, in view of realizing automatic battery replacement, the medicine box is pulled out from one direction and inserted into the unmanned aerial vehicle, battery replacement is realized, and it is required to control the locking state of the locking mechanism when the medicine box is replaced. The utility model aims to realize that an automatic battery replacement system is provided, which can realize the convenient disassembly between a medicine box of an unmanned aerial vehicle and the unmanned aerial vehicle, is convenient for the control of an automatic manipulator, and a locking mechanism can keep the pressure towards the direction of an electric connection interface when the medicine box is loaded, thereby improving the stability of electric connection and being beneficial to the continuous automatic operation of the unmanned aerial vehicle.

As shown in fig. 1 to 4, the power exchanging system for a plant protection unmanned aerial vehicle provided in this embodiment mainly includes an unmanned aerial vehicle 1, a medicine box 2, a battery 3, and a power exchanging platform 100. The battery 3 and the medicine box 2 are designed integrally.

Medical kit 2, as unmanned aerial vehicle's load, by detachable be connected to unmanned aerial vehicle on, carry the flight and spray the operation by unmanned aerial vehicle 1.

As an alternative embodiment, the medicine box 2 is integrated with a battery 3 for supplying power to the drone, the battery 3 being in particular a rechargeable battery. The batteries 3 are fixed to the medicine boxes 2 and are arranged to be replaced in synchronism with the medicine boxes.

The trading platform 100 is deployed in a work site, such as a scaled agricultural field, which is, inter alia, regularly divided or partitioned.

The battery replacing platform 100 is provided with a battery replacing mechanism to realize the battery replacing operation of the unmanned aerial vehicle.

As an optional scheme, the battery replacement platform 100 provides a load surface for the unmanned aerial vehicle 1 to park and be positioned on one hand, and stores at least one standby medicine box on the other hand, so that the unmanned aerial vehicle 1 is replaced by a battery replacement mechanism, and quick battery replacement is realized. Spare medical kit especially adopts the design the same with the medical kit of the integrated battery of unmanned aerial vehicle on load to realize quick change and adaptation.

When the unmanned aerial vehicle 1 is parked and positioned on the battery replacement platform 100, the battery replacement mechanism operates the standby medicine box to replace the medicine box loaded by the unmanned aerial vehicle.

As an example, the battery replacement mechanism is exemplified by the robot 6. The manipulator 6 includes three degrees of freedom at least (with unmanned aerial vehicle 1 park the plane definition and be the X-Y plane) for at unmanned aerial vehicle 1 park the angle conversion between direction and reserve medical kit, and can follow the centre gripping of unmanned aerial vehicle 1 with medical kit 2 and take out.

In order to save space, if the spare batteries are placed in a stacked manner, the robot 6 also has a degree of freedom in the Z-axis direction, and moves in the height direction to hold the spare medicine boxes of different heights. In the embodiment shown in fig. 1, a storage rack 8 for placing and accommodating spare medicine boxes is further disposed in the battery replacement platform 100, and the spare medicine boxes are placed on the storage rack. Optionally, a charging system is arranged on the storage rack 8 to charge the battery of the spare medicine box; and a liquid medicine replenishing system for replenishing liquid to the medicine box.

Optionally, the charging system is a photovoltaic charging system, comprising a photovoltaic cell and a charging circuit.

Optionally, the liquid medicine replenishing system comprises a liquid replenishing device consisting of a mixer and a liquid replenishing pump.

In an alternative embodiment, the battery replacement platform 100 can be provided in plurality according to the working field area to be sprayed with pesticide, the arrangement distance is determined according to the cruising quantity of the battery 3 and the pesticide box 2, so that the unmanned aerial vehicle does not need to fly back to the starting point for replacement, the continuous working capacity of the unmanned aerial vehicle 1 is improved, and the advantages are more obvious especially in a large-area field working scene.

The unmanned aerial vehicle 1 is provided with a positioning assembly and a communication assembly, is in communication connection with each battery replacing platform 100 through the communication assembly, so that the position information of each battery replacing platform 100 is obtained, and battery replacement is performed on the nearest battery replacing platform 100.

As shown in fig. 4 and 5, the unmanned aerial vehicle 1 has a first interface 11 for supplying power to internal electronic components and a housing space of the medicine box. Wherein, unmanned aerial vehicle 1 is inside mainly to contain to fly accuse system and motor (being used for driving the rotor), supplies power through battery 3. The medicine boxes 2 are detachably connected to the accommodating space of the unmanned aerial vehicle 1. It will be appreciated that in embodiments of the utility model, the internal mechanism design of the drone 1 and the design of the electronic systems may be adapted to the design of existing rotorcraft.

Further, integrated on the medicine chest 2 is a battery 3 for supplying power to the unmanned aerial vehicle, the battery 3 being fixed to the medicine chest and being arranged to be replaced in synchronism with the medicine chest. The battery 3 has a second interface 31 cooperating with the first interface 11 of the drone 1. Thus, when the medicine tank 2 is replaced, the battery 3 is also replaced at the same time. The integrated design of the medicine chest 2 and the battery 3 can keep the synchronism of battery replacement, and the situation that battery replacement needs to be returned when one of the medicine quantity and the electric quantity is too low is avoided.

In some embodiments, the battery 3 is also designed to power an infusion pump within the medicine box 2 to effect spraying of the pesticide.

In an optional mode, a spraying pipeline is integrated at the bottom of the medicine box 2, and a liquid pump is arranged in the medicine box 2 to supply liquid to the spraying pipeline. In other embodiments, the spraying pipeline can also be arranged on the unmanned aerial vehicle 1, the pipeline is provided with a spray head connected with the pesticide box 2, when the pesticide box 2 is installed in place, the liquid supply port of the pipeline is in butt joint with the liquid supply port of the pesticide box 2 for sealing, the liquid pump supplies the liquid pesticide in the pesticide box 2 to the liquid supply port through the pipeline, and the pesticide spraying pipeline sprays pesticide.

In some embodiments, the capacity of the medicine box 2 and the capacity of the battery 3 are set to match capacities according to the actual flying medicine consumption rate and the electric quantity consumption rate. Optionally, considering that the flight reliability of the unmanned aerial vehicle 1 and the low battery level affect the service life, the service time of the battery 3 is more than thirty percent of the service time of the liquid medicine in the medicine box 2.

As shown in fig. 5, a locking mechanism 4 is provided on the drone 1 at the periphery of the accommodation space, and the locking mechanism is operable to switch between an unlocked state and a locked state.

In some embodiments, a load surface for the drone to park and be positioned is provided by the swapping platform 100; with the load surface of the swapping platform 100 defining the X-Y direction, the medicine box 2 is arranged to be locked and released along the Y direction, and the first interface 11 of the drone 1 and the second interface 31 of the medicine box are arranged to cooperate along the Y direction, achieving an electrical connection.

The locking mechanism 4 has a tendency of keeping a locking state, so that the medicine box is in locking connection with the unmanned aerial vehicle; unmanned aerial vehicle 1 parks and is fixed a position the back on the load face, and locking mechanism 4 is operated and switches to the unblock state, and the medical kit of unmanned aerial vehicle load can break away from unmanned aerial vehicle and roll-off along the Y direction to move along the Y direction through the manipulator, slide in reserve medical kit and combine with first interface 11, accomplish to trade the electricity and by locking mechanism 4 locking.

Preferably, the locking mechanism 4 is arranged to, in the locked state, pre-load the medicine boxes 2 in the direction of the first interface 11 such that the second interface 31 of the battery maintains a tendency to move towards the first interface 11 of the drone.

When accommodating space was placed to medical kit 2, control locking mechanism 4 was in the locking state, can be with on medical kit 2 fixes unmanned aerial vehicle 1, and the position that keeps medical kit 2 in flight process is stable to the direction towards first interface 11 provides the pretightning force, makes the electricity connect stably, and when unmanned aerial vehicle 1 traded the electricity, control locking mechanism 4 was in the unblock state, does benefit to medical kit 2 and is taken out and change.

Thus, when the locking mechanism 4 is in the locked state, the medicine box 2 is tightly connected with the unmanned aerial vehicle 1, and when the locking mechanism is in the unlocked state, the medicine box 2 can slide relative to the unmanned aerial vehicle 1 along the insertion direction of the second interface 31 and the first interface 11, so that the manipulator 6 clamps the medicine box 3 to take out the medicine box, and puts in the spare medicine box to complete the battery replacement.

In an alternative embodiment, a resilient connection may also be provided between the first interface 11 and the fuselage of the drone, such that the first interface 11 has a pressure towards the direction in which the medicine boxes 2 are inserted, so that a reliable electrical connection can be maintained even if the medicine boxes 2 are not compressed.

As shown in fig. 1, after a unit working time, the unmanned aerial vehicle 1 needs to replace the medicine box 2 and the battery 3, the unmanned aerial vehicle 1 communicates with the battery replacing platform 100 to acquire the position information of the battery replacing platform 100, and the unmanned aerial vehicle flies to land after reaching the nearest battery replacing platform, and for simple structure, because the arrangement position of the manipulator 6 is relatively fixed, the landing position of the unmanned aerial vehicle 1 is fixed for ensuring, and the unmanned aerial vehicle can have a reliable relative position in the battery replacing process.

Preferably, the power exchanging platform 100 is provided with a correcting mechanism 7 for adjusting the unmanned aerial vehicle parked on the load surface to a position state where the power exchanging mechanism can pick and place the medicine chest along the Y direction.

Preferably, the correcting mechanism 7 adopts a # -shaped correcting mechanism, and performs relative movement according to a preset sequence to correct the parking angle and/or the direction of the unmanned aerial vehicle, so as to correct the unmanned aerial vehicle to a preset position. It will be appreciated that in a preferred embodiment, the preset position of the drone is determined by the correct position of the correction mechanism.

Referring to fig. 1, the correcting mechanism 7 includes a rotatable X-direction correcting lever group and a Y-direction correcting lever group. The X-direction correction bar group includes a pair of X-direction correction bars 71 disposed oppositely, and the Y-direction correction bar group includes a pair of Y-direction correction bars 72 disposed oppositely.

Wherein, X is to carrying out relative movement according to the order of predetermineeing back and forth according to X to correction lever group and Y to correction lever group and in order to rectify unmanned aerial vehicle's parking angle and/or position, rectifies unmanned aerial vehicle to predetermined position.

In an alternative embodiment, the correcting mechanism 7 comprises correcting rod groups which are distributed in a # -shape and move relatively, in particular an X-direction correcting rod group and a Y-direction correcting rod group. After the unmanned aerial vehicle 1 lands on the battery replacement platform 100, one of the X-direction correction rod group (i.e., a pair of X-direction correction rods 71 arranged oppositely) or the Y-direction correction rod group (a pair of Y-direction correction rods 72 arranged oppositely) relatively moves and rotates, and then the other one of the X-direction correction rod group and the Y-direction correction rod group moves and rotates to correct the parking angle and/or the azimuth of the unmanned aerial vehicle 1.

Wherein each set of the correction rods has a preset correction position, namely an angle and a position after being moved in place.

Combine 1 to show, use X to the corrector lever group as an example, move 2X that set up relatively earlier to corrector lever 71, 2X are close to each other gradually and reach preset calibration position to corrector lever 71, make unmanned aerial vehicle 1 fixed in the position of a direction to the correction angle, then two poles of another direction are close to each other again, make unmanned aerial vehicle 1 by pinpoint, stop at predetermined position 701.

In this way, the unmanned aerial vehicle 1 after being corrected and positioned operates the medicine box 2 along the Y direction by the manipulator 6 on the battery replacement platform 100, and replaces the spare medicine box. Therefore, through linear displacement, namely reciprocating motion, in the Y direction, the matching in the Y direction between the first interface and the second interface is accurate, the system error caused by battery replacement can be reduced, and the high-precision battery replacement is realized.

When the X-direction correcting rod group and the Y-direction correcting rod reach the preset correcting positions, the unmanned aerial vehicle is corrected and positioned to the preset positions, namely the first interface of the unmanned aerial vehicle is matched with the second interface of the medicine box along the Y direction, so that the battery replacement mechanism (such as a manipulator) can realize the positions of the sliding-in and sliding-out operations of the medicine box along the Y direction. The precision of location, butt joint is high, reduces the damage risk to the interface, simultaneously, does benefit to the operation of locking and unblock.

Preferably, in the operation process of the battery replacement mechanism, due to consistent reciprocating motion and operation along the Y direction, especially the position of the unmanned aerial vehicle in the battery replacement process needs to be kept stable, so that the unmanned aerial vehicle is clamped by the X-direction correction rod group and the Y-direction correction rod group of the correction mechanism, the limit in the battery replacement process is realized, and the unmanned aerial vehicle is prevented from moving along the Y direction or the Y direction.

Further, the correction mechanism 7 can also adopt sensor positioning, vision positioning, laser positioning and other modes to realize the auxiliary accurate positioning of the landing of the unmanned aerial vehicle 1.

In an alternative embodiment, shown in connection with fig. 5, a housing space is formed between two landing gears of the drone 1, the locking mechanism 4 being provided on the landing gear of the drone 1. So, unmanned aerial vehicle's structural design need not modify, and is the same on the whole with present many rotor unmanned aerial vehicle structural design, and only undercarriage 12 makes corresponding design improvement.

Further, in order to keep the medicine box 2 to slide relatively stably in the horizontal direction (i.e. in a direction parallel to the battery replacement platform 100) and to still provide a good supporting force for the medicine box 2 after the unmanned aerial vehicle 1 is emptied, a hollow slide rod 12 extending into the accommodating space 121 is arranged on the inner side of the landing gear, and a sliding groove 22 capable of surrounding the hollow slide rod 12 is arranged on the medicine box 2, so that the medicine box 2 can slide along the hollow slide rod 12.

Alternatively, the outside of the medicine box 2 is provided with a gripping groove 21.

As shown in the drawing, the robot 6 includes a gripping arm 62 that can be inserted into the gripping groove 21 to grip the medicine boxes 2 and grip the medicine boxes 2.

In an alternative embodiment, as shown in fig. 6, the locking mechanism 4 includes an elastic latch 42 installed inside the hollow slide bar 12, a catch groove 23 is provided on the medicine box 2, and after the medicine box 2 is loaded into the accommodating space, the elastic latch 42 in a locked state can extend out of the hollow slide bar 12 and be caught in the catch groove 23 to limit the medicine box 2 from sliding.

Wherein, battery 3 is set up and is taken out/put into the other end of operation end at medical kit 2, makes medical kit 2 put into the back, and battery 3 and unmanned aerial vehicle 1 circular telegram, when medical kit 2 was taken out the back, battery 3 and unmanned aerial vehicle 1 outage.

As shown in fig. 6, further, a latch bracket 5 is arranged in the hollow slide bar 12, the latch bracket 5 is slidably connected to the hollow slide bar 12, and a spring 51 is arranged between the latch bracket 5 and the hollow slide bar 12, so that the latch bracket 5 has a pre-tightening force towards the first interface 11 of the unmanned aerial vehicle, and the elastic latch 42 is kept to compress the medicine box 2.

So, make medical kit 2 be in stable state, unmanned aerial vehicle 1 flight in-process, medical kit 2 can be compressed tightly all the time, and battery 3's second interface 31 keeps and first interface 11 in close contact with.

Referring to fig. 8, when the unmanned aerial vehicle 1 is parked and needs to be powered off, the pressing state of the elastic latch bolt 42 needs to be released. Specifically, the elastic bolt 42 is hinged to the bolt bracket 5, and in order to make the elastic bolt 42 smooth when rotating, the elastic bolt 42 has an arc contact surface contacting with the medicine box clamping groove 23, and a stop block 122 is arranged inside the hollow slide bar 12.

The elastic bolt 42 includes a locking state, a contracting state and a state to be locked.

In the locked state shown in fig. 9, the arc contact surface 421 of the elastic latch 42 contacts the medicine-box catch 23 and is separated from the stopper 122, and the medicine-box catch 23 has an arc abutting surface 231; at this time, the elastic latch 42 presses the medicine boxes 2 by the pressure of the spring 51, and the position thereof is held stable, thereby improving the reliability of the electrical connection.

In the retracted state shown in fig. 10, the arcuate contact surface of resilient latch bolt 42 contacts stop block 122 and is fully retracted within hollow slide 12; when the locked state needs to be released, the elastic latch 42 needs to be retracted, that is, the contact portion between the elastic latch 42 and the medicine boxes 2 is completely retracted into the hollow slide bars 12, so that the medicine boxes 2 are in a free state in the slide-in and slide-out direction.

In an alternative embodiment, the elastic latch 42 is changed from the locked state to the contracted state by abutting against the inclined surface of the elastic latch 42 with a guide rod 61 on the manipulator 6, and as shown in fig. 4-5, the guide rod 61 moves inwards along the cavity 22 formed inside the hollow slide bar 12 and on one side of the latch bracket 5 close to the accommodating space of the drone, and when touching the inclined surface of the elastic latch 42, the elastic latch 42 rotates around the rotating shaft 422, that is, the elastic latch 42 is completely accommodated in the hollow slide bar 12.

As shown in fig. 6, after the guide rod 61 is pulled out, the elastic latch 42 extends out of the hollow sliding rod 12 due to the elastic force of the return spring 41.

With reference to the state to be locked shown in fig. 11, after the guide rod 61 is pulled out, the elastic latch 42 extends out of the hollow slide rod 12 due to the elastic force of the return spring 41, and due to the elasticity of the spring 51, the arc-shaped contact surface 421 of the elastic latch 42 abuts against the hole wall of the inner side extending hole 123 of the hollow slide rod 12, and at this time, the elastic latch 42 is in a stable state.

Further, as shown in connection with fig. 9, the shape of the arc-shaped contact surface 421 is set to: the length of the arc surface of the contact end (the right end of the arc-shaped contact surface 421 shown in the figure) with the medicine box 2 from the rotation center is longer than the length of the arc surface of the free end (the left end of the arc-shaped contact surface 421 shown in the figure) from the rotation center.

In this way, when the elastic latch 42 is in the latched state, at this time, the latch bracket 5 receives the pressure of the spring 51 and has an upward pressure in the drawing, and in both the state where the medicine boxes 2 are put in and the state where the guide rod 61 is put in, the elastic latch 42 can be rotated counterclockwise, and since the length of the left end of the arc-shaped contact surface 421 from the center is small, the latch bracket 5 can be gradually pressed down while contacting the stopper 122 and sliding on the stopper 122 until the elastic latch 42 is caught in the medicine-box catching groove 23.

In other embodiments, the locking mechanism 4 may also be an electromagnetic lock or an electric control lock, and is disposed on the body of the unmanned aerial vehicle 1 and controlled by a magnetic induction signal or a pressure button.

For example, in some embodiments, pressure sensor or magnetic induction legend are set up in the undercarriage bottom, and after being touched by aligning gear or manipulator 6, locking mechanism 4 is in the unblock state, then trades the electricity process, and after trading the electricity process and finishing, manipulator 6 or aligning gear break away from, and locking mechanism 4 locks again, and unmanned aerial vehicle 1 can carry out the operation of spraying the pesticide.

The utility model provides a power changing method for a plant protection unmanned aerial vehicle on the other hand, which comprises the following steps:

step 1, the unmanned aerial vehicle 1 is parked to the battery replacement platform 100 and corrected to a preset position by the correction mechanism 7;

step 2, the locking mechanism 4 is triggered to be switched from a locking state to an unlocking state;

step 3, operating the medicine box 2 integrated with the battery by a battery replacing mechanism (such as a mechanical arm 6), sliding the medicine box 2 out of the unmanned aerial vehicle 1, placing the medicine box on a battery replacing platform 100, and then operating to place a spare medicine box in a containing space of the unmanned aerial vehicle 1;

and 4, triggering the locking mechanism 4 to switch from the unlocking state to the locking state, and completing battery replacement.

In an alternative embodiment, in step 2 and step 4, the locking mechanism 4 is triggered by the manipulator 6 or the calibration mechanism 7 to switch between the unlocked and locked states.

Through the synchronous, relative rotation of X to correction pole group or Y to correction pole group for unmanned aerial vehicle can be by X to the drive of correction pole or Y to the correction pole and take place displacement and/or rotate in the direction that corresponds, with the angle and the position of correction unmanned aerial vehicle, make its final parking to preset position.

Preferably, in the process of replacing the battery by the battery replacement mechanism, the unmanned aerial vehicle is parked and positioned at a preset position, and the X-direction correction rod group and the Y-direction correction rod group clamp and limit to prevent the unmanned aerial vehicle from moving along the Y direction or the Y direction.

For example, the elastic latch 42 of the lock mechanism 4 is operated by a guide rod 61 on the robot hand to switch the unlocked and locked states. In other embodiments, when the locking mechanism 4 is an electrically controlled locking mechanism, the locking mechanism 4 switches between the unlocked and locked states after being operated by the calibration mechanism 7 or the manipulator 6.

By combining the above embodiment, the unmanned aerial vehicle power exchanging device disclosed by the utility model combines the medicine box and the battery of the unmanned aerial vehicle for plant protection, is designed to be changed in an integrated manner, can realize automatic power exchanging of the unmanned aerial vehicle, improves the continuity of operation of the unmanned aerial vehicle for plant protection, can automatically and rapidly adjust the angle of the unmanned aerial vehicle in the power exchanging process through the optimization of the locking mechanism and the correcting mechanism, and can perform position correction and positioning on the unmanned aerial vehicle, so that the subsequent power exchanging process can be rapidly and accurately performed. In the battery replacement process, the locking mechanism can be triggered by the battery replacement mechanism or the correction mechanism to control the switching between the locking state and the unlocking state, so that the quick battery replacement processing is performed. The medical kit keeps firm physical connection and the electricity with unmanned aerial vehicle throughout after unmanned aerial vehicle soaks and is connected, improves the reliability of stability and electricity connection.

Although the present invention has been described with reference to the preferred embodiments, it is not intended to be limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the utility model. Therefore, the protection scope of the present invention should be determined by the appended claims.

Claims

1. The utility model provides a plant protection unmanned aerial vehicle trades electric system, its characterized in that includes:

and a standby medicine box is arranged on the battery replacement platform and is arranged to replace the medicine box loaded by the unmanned aerial vehicle after the unmanned aerial vehicle is parked on the load surface and positioned.

2. The unmanned aerial vehicle power exchanging system for plant protection according to claim 1, wherein the power exchanging platform is provided with a correction mechanism for adjusting the unmanned aerial vehicle parked on the load surface to a position state where the power exchanging mechanism can pick and place the medicine chest along the Y direction.

3. The plant protection unmanned aerial vehicle trades electric system of claim 2, wherein, the aligning gear includes rotatable X to aligning stick group and Y to aligning stick group, X to aligning stick group and Y to aligning stick group set up to carry out relative movement according to the order of predetermineeing in order to rectify unmanned aerial vehicle's parking angle and/or orientation, rectify unmanned aerial vehicle to preset position.

4. The power switching system for the plant protection unmanned aerial vehicle according to any one of claims 1 to 3, wherein the locking mechanism is configured to apply a pre-tightening force to the medicine box in a direction towards the first interface when in the locking state, so that the second interface of the battery keeps a tendency to move towards the first interface of the unmanned aerial vehicle.

5. The power switching system for the plant protection unmanned aerial vehicle as claimed in claim 1, wherein the unmanned aerial vehicle has two undercarriage, a hollow slide rod extending into the accommodating space is provided on the inner side of the undercarriage, and a sliding groove capable of surrounding the hollow slide rod is provided on the medicine box so that the medicine box can slide along the hollow slide rod.

6. The power switching system for the plant protection unmanned aerial vehicle according to claim 5, wherein the locking mechanism comprises an elastic bolt installed inside the hollow slide bar, a clamping groove is formed in the medicine box, and after the medicine box is loaded into the accommodating space, the elastic bolt in a locking state can extend out of the hollow slide bar and be clamped in the clamping groove to limit the medicine box to slide.

7. The plant protection unmanned aerial vehicle trades electric system of claim 6, characterized in that, be equipped with the spring bolt support in the hollow slide bar, spring bolt support and hollow slide bar sliding connection, and be equipped with the spring between spring bolt support and the hollow slide bar, make the spring bolt support have the pretightning force towards unmanned aerial vehicle's first interface direction to make the elastic spring bolt keep the trend that compresses tightly the medical kit.

8. The power switching system for the plant protection unmanned aerial vehicle according to claim 7, wherein the elastic spring bolt is hinged to a spring bolt support, the elastic spring bolt is provided with an arc-shaped contact surface which is in contact with a clamping groove of the medicine box, and a stop block is arranged inside the hollow slide rod.

9. The plant protection unmanned aerial vehicle power swapping system of claim 8, wherein the arc contact surface is shaped to: the length of the cambered surface of the contact end of the medicine box from the rotating center is greater than that of the cambered surface of the free end from the rotating center.

10. The unmanned aerial vehicle power switching system for plant protection of claim 9, wherein a cavity is formed inside the hollow slide bar and on one side of the bolt support close to the accommodation space of the unmanned aerial vehicle, and the power switching mechanism is configured to operate the cavity to switch the elastic bolt from the locking state to the unlocking state.